The linear segment with parabolic blend (LSPB) trajectory deviates from the specified waypoints. It is restricted to that the acceleration must be sufficiently high. In this work, it is proposed to engage modified LSPB trajectory with particle swarm optimization (PSO) so as to create through points on the trajectory. The assumption of normal LSPB method that parabolic part is centered in time around waypoints is replaced by proposed coefficients for calculating the time duration of the linear part. These coefficients are functions of velocities between through points. The velocities are obtained by PSO so as to force the LSPB trajectory passing exactly through the specified path points. Also, relations for velocity correction and exact velocity solution are derived. Simulation results show that the engagement of modified LSPB trajectory with PSO to work well on the tested cases. This proposed method is very simple which can be used for on-line path planning, and not necessarily to use high acceleration magnitude.
Abstract:
The research sought to identify the crises that occurred during the research period and their reflection on the performance of the hotel Research sample as well as to identify the reality of auditing the hotel Research sample and the preparation of a performance audit program can be adopted in auditing the performance of hotels in light of crises, and the problem of the research lies in the lack of a program to audit the performance of hotels that takes into account the crises experienced by the hotel sector, The research was based on solving its problems on three hypotheses, the first is that the performance audit in light of the Covid-19 pand
... Show Moreتعد التغيرات المناخية قضية بيئية عالمية وشاغلاً مشتركاً للبشرية وهي نتيجة حتمية للتطور الحضاري، لاسيما بعد قيام الثورة الصناعية، فقد كان الاستهلاك غير العقلاني لموارد الطبيعة والتوسع العمراني على حساب المساحات الخضراء آثار خطيرة على المناخ الذي يعد من اهم عناصر البيئة الطبيعية لما له من اثر واضح على كافة مجالات الحياة. على صعيد الحالة العراقية يواجه العراق تحديات عدة يفرضها تغير المناخ كارتفاع درجات الحرا
... Show MoreEl color es uno de los elementos novelísticos que ayudan los autores para desarrollar las acciones y llevarlas al desenlace adecuado. Y Blasco Ibáñez depende al color para pintar las escenas artísticas dentro sus novelas, especialmente, sus novelas que pertenecen al siglo de naturaleza. Él conocido con la abundancia de los colores para describir el ambiente y los personajes, como indica el autor catedrático José A. Balseiro:
"su pluma no supo__ como el pincel de los primitivos__ del matiz logrado a toques mínimos, pacientes. ¿No era, a caso, coterráneo de Joaquín Sorolla, en cuya paleta mediterránea celebrábase, día tras día, el milagro del f
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When Allah has chosen Arabic language to be the eternal language of the Holly Qura'an, Qura'an was the original resource of the perfect grand Arabic
يعد النظام التعليمي لاي بلد انعكاسا للمستوى الثقافي والحضاري للمجتمع وعادة ما يحدد هذا النظام ويوجه من قبل التنظيمات السياسية والاقتصادية والاجتماعية في المجتمع كونها تعتمد علية في تحقيق اهدافها ,وصبحت الجامعة اليوم تمثل عمد النظام التربوي والتعليمي بما تمتلكه من كفاءات وقد ا رت وامكانيات بشرية ومادية تستطيع من خلالها رفد المجتمع بما يحتاجة من قد ا رت بشرية متعلمة في كافة الاختصاصات ومناحي الحياة لادامة ال
... Show Moreكانت االمثمة ومازالت الػسيمة الػحيجة واالىع في ايزاح القػاعج الشحػية قجيسا وحجيثا ، فالسثال ىػ الصخيقة التي بػاسصتيا يفيع الستعمع ما يخيج ان يػصمو السعمع ، فالذخح الكثيخ والدخد ال يػصل الى بيان القاعجة مالع يعدز باالمثمة . وليحا فان اختيار السثال السشاسب في السكان السشاسب ال يتع بصخيقة عذػائية اذا يشبغي ان يكػن السثال ذا معاييخ ومػاصفات تشاسب السقام الحي قيمت فيو . مغ ىشا جاء ىحا البحث ليبيغ ما السػاصفات الت
... Show MoreThe process of doing many kinds of industries , crafts , professions around Islamic Arabian State , they enable us to say that Arab Muslims over their homelands had been occupied various types of crafts and manufacturing before emergence Islam . Moreover Islam encouraged to work within manufacture field . And These matters were clarified through verses of the Holy Qur’an and honored prophetic guidance ( Sunna ) . Whereas Arab Muslims applied principle “ Free of Business “ . They admitted to different social groups such as pact – fellows people to profession or craft which they desire to work . We have to not forget that Arab Muslims had broken all restraints and shackles which had restricted the worker bef
... Show MoreThis paper sheds light on aspects of environmental and climatic treatments in the groves mud existing in some Libyan oases. It reveals the architecture efforts and contributions to the adaptation of the construction and materials in order to organize the weather inside the building blocks to suit the nature of the human and his living in all seasons
This study aimed to investigate the relationship between narcissistic
personality and altruistic behavior for a subject of (307) gifted high schools
students, including (139)male and (168) female students ,both the scale of
narcissistic personality and the scale of altruistic behavior (Hameed ,2002) were
checked for its validity and reliability ,and both the level of narcissism and the
level of altruism for the students were measured in compare to the medium average
and approved to be statistically significant at (0.05) level.
Results showed that there were no significant differences in the altruistic
behavior between males and females ,results showed significant differences in
narcissism levels between males a